技术领域Technical field
本发明涉及定子加工技术领域，具体为一种载料盒输送装置。The invention relates to the technical field of stator processing, and specifically to a carrier box conveying device.
背景技术Background technique
定子的加工过程是将半成品通过模具注塑，随后将多余的部分清理掉后再进行耐压检测，合格后再进行后续的工序。在进行注塑前，为方便机械手抓取，会采用载具工装放置半成品，载具工装移动到机械手的抓取范围后由机械手取料进行注塑。通常采用输送带等输送装置将载具工装送至机械手抓取范围内，进而保持与注塑机一定的安全距离。The processing process of the stator is to inject the semi-finished product through the mold, and then clean up the excess parts before conducting a pressure test. After passing the test, the subsequent processes can be carried out. Before injection molding, in order to facilitate the grasping of the robot, a carrier tool is used to place the semi-finished product. After the carrier tool moves to the grasping range of the robot, the robot takes the material for injection molding. Usually, conveyor belts and other conveying devices are used to deliver the carrier tooling to the grasping range of the robot, thereby maintaining a certain safe distance from the injection molding machine.
但是将装有半成品的载具工装由输送装置移动至机械手抓取范围后，输送装置需停止，等待机械手完成抓料后再继续启动。但是输送装置停止，则需要反复启动停止输送装置，增加输送装置的损坏率，也影响输送效率。倘若输送装置不停止，则需输送装置保持一个缓慢的速度，而且抓取位置不固定，机械手抓取容易出现偏差，造成抓取失败，更加不易批量抓取，受限于少量或单一抓取，取料效率低。However, after moving the carrier tooling containing semi-finished products from the conveyor device to the grasping range of the robot, the conveyor device needs to stop and wait for the robot to complete the grasping of materials before continuing to start. However, when the conveying device stops, it is necessary to start and stop the conveying device repeatedly, which increases the damage rate of the conveying device and also affects the conveying efficiency. If the conveying device does not stop, the conveying device needs to maintain a slow speed, and the grasping position is not fixed. The robot grasping is prone to deviations, resulting in grasping failure. It is even more difficult to grasp in batches, and is limited to a small amount or a single grasp. Retrieval efficiency is low.
此外，若输送装置是往复移动，则一次只能够输送一个载具工装，输送效率受限，若是输送装置是单一方向输送，则需输送装置为一个闭环，转弯处所占空间较大，需保证加工区域具有足够的长度空间。In addition, if the conveying device moves back and forth, it can only transport one carrier tool at a time, and the conveying efficiency is limited. If the conveying device transports in one direction, the conveying device needs to be a closed loop, and the turning area occupies a large space, so it needs to be ensured The processing area has sufficient length space.
发明内容Contents of the invention
基于此，有必要针对现有定子输送不易兼顾输送效率和配合机械手抓取精准度的问题，提供一种载料盒输送装置。Based on this, it is necessary to provide a carrier box conveying device to solve the problem that the existing stator conveying is not easy to take into account the conveying efficiency and the robot grasping accuracy.
为实现上述目的，本发明采用了以下技术方案：In order to achieve the above objects, the present invention adopts the following technical solutions:
一种载料盒输送装置，包括底座、传送机构、顶升机构、转移机构。A loading box conveying device includes a base, a transmission mechanism, a lifting mechanism, and a transfer mechanism.
传送机构包括输送方向相反的第一输送件和第二输送件，且二者并行设置在底座上；第一输送件包括两个相邻同步传动的传动带，传动带的中段区域形成抓取载料盒中定子半成品的抓取工位，载料盒的底部两侧与传动带相接触；The conveying mechanism includes a first conveying member and a second conveying member with opposite conveying directions, and the two are arranged in parallel on the base; the first conveying member includes two adjacent synchronously driven transmission belts, and the middle region of the transmission belt forms a grab loading box At the grabbing station of the stator semi-finished product, both sides of the bottom of the loading box are in contact with the transmission belt;
顶升机构包括第一顶升气缸、第二顶升气缸和辅助轮；第一顶升气缸的固定端安装在底座上，活动端向上延伸两个传动带的间隙中并位于所述抓取工位内；第二顶升气缸与第一顶升气缸沿第一输送件的输送方向相邻设置，第二顶升气缸偏向第一输送件顶部终点位置；辅助轮转动安装在第二顶升气缸活动端，用于阻挡并辅助载料盒上移；当辅助轮的外周面与载料盒面向第一输送件顶部终点位置的一侧相接触时，该载料盒位于第一顶升气缸的正上方。The lifting mechanism includes a first lifting cylinder, a second lifting cylinder and an auxiliary wheel; the fixed end of the first lifting cylinder is installed on the base, and the movable end extends upward into the gap between the two transmission belts and is located at the grabbing station inside; the second lifting cylinder and the first lifting cylinder are arranged adjacent to each other along the conveying direction of the first conveying member, and the second lifting cylinder is biased toward the top end position of the first conveying member; the auxiliary wheel is mounted on the second lifting cylinder for rotation. end, used to block and assist the upward movement of the loading box; when the outer peripheral surface of the auxiliary wheel is in contact with the side of the loading box facing the top end position of the first conveying member, the loading box is located directly in front of the first lifting cylinder above.
转移机构设置在第一输送件顶部终点位置和第二输送件顶部起点位置处，用于将载料盒从第一输送件转移到第二输送件上。The transfer mechanism is provided at the top end position of the first conveying member and the starting position of the top of the second conveying member, and is used to transfer the loading box from the first conveying member to the second conveying member.
进一步的，辅助轮通过支架与第二顶升气缸活动端连接，支架底部固定安装在第二顶升气缸活动端，支架的顶部向第一输送件顶部起始位置倾斜，至少两个辅助轮水平并排轴连接在支架顶部，且辅助轮的轴向与载料盒的移动方向相平行；支架底部一侧开设有限位槽，第二顶升气缸的固定端竖直安装有第一限位杆，第一限位杆外表面与所述限位槽内壁面相接触。Further, the auxiliary wheels are connected to the movable end of the second lifting cylinder through a bracket. The bottom of the bracket is fixedly installed on the movable end of the second lifting cylinder. The top of the bracket is tilted toward the starting position of the top of the first conveying member, and at least two auxiliary wheels are horizontal. The side-by-side shaft is connected to the top of the bracket, and the axial direction of the auxiliary wheel is parallel to the moving direction of the loading box; a limit slot is provided on one side of the bottom of the bracket, and a first limit rod is installed vertically on the fixed end of the second lifting cylinder. The outer surface of the first limiting rod is in contact with the inner wall surface of the limiting groove.
进一步的，辅助轮通过平板与第二顶升气缸活动端连接，平板中部固定安装在第二顶升气缸活动端，至少两个辅助轮水平并排轴连接在平板面向第一输送件顶部起始位置的一侧，且辅助轮的轴向与载料盒的移动方向相平行；平板的底部连接有第二限位杆，第二顶升气缸固定端表面安装有配合第二限位杆纵向线性移动的限位滑槽。Further, the auxiliary wheels are connected to the movable end of the second jacking cylinder through a flat plate, the middle part of the flat plate is fixedly installed on the movable end of the second jacking cylinder, and at least two auxiliary wheels are connected horizontally side by side on the starting position of the top of the flat plate facing the first conveying member. on one side, and the axial direction of the auxiliary wheel is parallel to the moving direction of the loading box; the bottom of the flat plate is connected with a second limit rod, and the surface of the fixed end of the second lifting cylinder is equipped with a second limit rod that moves longitudinally linearly limit chute.
进一步的，传动带的外侧设有侧挡板，侧挡板安装在底座上，载料盒的四角轴连接有滚轮，滚轮位于传动带的上方且滚轮外周面与侧挡板内侧相接触。Further, a side baffle is provided on the outside of the transmission belt, and the side baffle is installed on the base. The four-corner shaft of the material loading box is connected with a roller. The roller is located above the transmission belt and the outer peripheral surface of the roller is in contact with the inside of the side baffle.
进一步的，第一输送件顶部终点位置处水平设有阻挡载料盒继续移动的拦截板，拦截板一端延伸至第二输送件的起始位置。Furthermore, an intercepting plate is horizontally provided at the end position of the top of the first conveying member to block the continued movement of the loading box, and one end of the intercepting plate extends to the starting position of the second conveying member.
进一步的，第一顶升气缸的活动端连接有推动板，推动板顶部四角设置有限位凸起，限位凸起的顶部呈圆台状，载料盒的四角设置有与限位凸起匹配的限位孔。Further, the movable end of the first lifting cylinder is connected to a push plate, and the four corners of the top of the push plate are provided with limit protrusions. The top of the limit protrusions is in the shape of a truncated cone, and the four corners of the loading box are provided with limit protrusions that match the limit protrusions. Limit hole.
进一步的，转移机构包括夹持板、气动夹爪和直线滑台模组；气动夹爪的固定端与直线滑台模组的活动端连接，气动夹爪相对称、运动方向相反的活动端可拆卸连接有夹持板，夹持板内侧与载料盒接触；直线滑台模组设置在第一输送件顶部终点位置和第二输送件顶部起点位置外侧且安装在底座上，用于移动气动夹爪在第一输送件和第二输送件往复移动。Further, the transfer mechanism includes a clamping plate, a pneumatic clamping jaw and a linear slide module; the fixed end of the pneumatic clamping jaw is connected to the movable end of the linear sliding table module, and the movable end of the pneumatic clamping jaw is symmetrical and moves in the opposite direction. A clamping plate is disassembled and connected, and the inner side of the clamping plate is in contact with the loading box; the linear slide module is set outside the end position of the top of the first conveyor and the starting position of the top of the second conveyor and is installed on the base for moving the pneumatic The clamping jaw moves back and forth between the first conveying member and the second conveying member.
进一步的，夹持板内侧背离气动夹爪的一端内凹设置或者是夹持板内侧靠近气动夹爪的一端向内延伸凸出，形成阶梯面，两个夹持板靠向载料盒的一端间距大于另一端间距。Furthermore, one end of the inner side of the clamping plate facing away from the pneumatic clamping claw is set inwardly, or the end of the inner side of the clamping plate close to the pneumatic clamping claw extends inward to form a stepped surface, and the two clamping plates are close to one end of the loading box. The spacing is greater than the spacing at the other end.
进一步的，第一输送件还包括同步带、同步轮和电机；传动带其中一端带轮中轴向外延伸且和电机的输出轴分别连接有同步轮，电机安装在底座上且位于传动带的下方，同步轮之间通过同步带传动。Further, the first conveying member also includes a synchronous belt, a synchronous wheel and a motor; the central shaft of the pulley at one end of the transmission belt extends outward and is connected to the output shaft of the motor with a synchronous wheel respectively. The motor is installed on the base and is located below the transmission belt. The synchronous wheels are driven by a synchronous belt.
进一步的，底座外侧放置有机械手，用于抓取所述抓取工位内载料盒中的定子半成品。Furthermore, a manipulator is placed outside the base for grabbing the stator semi-finished product in the loading box in the grabbing station.
与现有技术相比，本发明的有益效果包括：Compared with the existing technology, the beneficial effects of the present invention include:
1、本发明通过顶升机构能够对传动带上的载料盒进行拦截并将其向上顶升脱离传动带，在不影响传动带持续传动的同时将载料盒脱离传动带并配合取料机械手进行取料操作；此外，输送方向相反的第二输送件和转移机构能够将空的载料盒送回，装半成品后继续输送，保障传动带的持续输送；1. The present invention can intercept the material loading box on the transmission belt through the lifting mechanism and lift it up and away from the transmission belt. Without affecting the continuous transmission of the transmission belt, the material loading box can be separated from the transmission belt and cooperate with the material picking robot to carry out the material picking operation. ; In addition, the second conveyor and transfer mechanism with the opposite conveying direction can return the empty loading box, load the semi-finished products and continue conveying, ensuring the continuous conveying of the transmission belt;
2、本发明通过侧挡板和滚轮的配合提高载料盒运输过程的稳定性，且在传动带顶部终点位置设置拦截板能够进一步阻挡载料盒，避免载料盒掉落，进一步保证安全性。2. The present invention improves the stability of the carrier box during transportation through the cooperation of side baffles and rollers, and the interception plate provided at the end position of the top of the transmission belt can further block the carrier box, prevent the carrier box from falling, and further ensure safety.
3、本发明通过限位凸起和限位孔的配合能够提高第一顶升气缸顶升载料盒时的稳定性，极大的避免了载料盒在顶升过程的晃动。3. The present invention can improve the stability of the first lifting cylinder when lifting the loading box through the cooperation of the limiting protrusion and the limiting hole, and greatly avoids the shaking of the loading box during the lifting process.
附图说明Description of the drawings
参照附图来说明本发明的公开内容。应当了解，附图仅仅用于说明目的，而并非意在对本发明的保护范围构成限制。其中：The disclosure of the present invention will be described with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of the present invention. in:
图1为本发明实施例1介绍的一种载料盒输送装置的结构示意图；Figure 1 is a schematic structural diagram of a carrier box conveying device introduced in Embodiment 1 of the present invention;
图2为基于图1的另一视角的立体图；Figure 2 is a perspective view based on another perspective of Figure 1;
图3为图2中A处的放大图；Figure 3 is an enlarged view of point A in Figure 2;
图4为基于图1的载料盒的结构示意图；Figure 4 is a schematic structural diagram of the loading box based on Figure 1;
图5为基于图1的机械手的结构示意图。Figure 5 is a schematic structural diagram of the manipulator based on Figure 1.
图中标注说明：1、底座；2、传送机构；21、第一输送件；211、传动带；212、同步带；213、同步轮；214、电机；22、第二输送件；3、顶升机构；31、第一顶升气缸；32、第二顶升气缸；33、辅助轮；34、侧挡板；35、滚轮；36、拦截板；37、推动板；38、限位凸起；4、转移机构；41、夹持板；42、气动夹爪；43、直线滑台模组；5、机械手。Annotations in the figure: 1. Base; 2. Transmission mechanism; 21. First conveying part; 211. Transmission belt; 212. Synchronous belt; 213. Synchronous wheel; 214. Motor; 22. Second conveying part; 3. Jacking Mechanism; 31. First lifting cylinder; 32. Second lifting cylinder; 33. Auxiliary wheel; 34. Side baffle; 35. Roller; 36. Interception plate; 37. Push plate; 38. Limiting protrusion; 4. Transfer mechanism; 41. Clamping plate; 42. Pneumatic clamping jaw; 43. Linear slide module; 5. Manipulator.
具体实施方式Detailed ways
容易理解，根据本发明的技术方案，在不变更本发明实质精神下，本领域的一般技术人员可以提出可相互替换的多种结构方式以及实现方式。因此，以下具体实施方式以及附图仅是对本发明的技术方案的示例性说明，而不应当视为本发明的全部或者视为对本发明技术方案的限定或限制。It is easy to understand that according to the technical solution of the present invention, without changing the essential spirit of the present invention, those of ordinary skill in the art can propose various structural methods and implementation methods that can be replaced with each other. Therefore, the following specific embodiments and drawings are only illustrative descriptions of the technical solutions of the present invention, and should not be regarded as the entirety of the present invention or as limitations or restrictions on the technical solutions of the present invention.
实施例1Example 1
请参阅图1和图5，本实施例介绍了一种载料盒输送装置，包括底座1、传送机构2、顶升机构3、转移机构4。Please refer to Figures 1 and 5. This embodiment introduces a carrier box conveying device, which includes a base 1, a transmission mechanism 2, a lifting mechanism 3, and a transfer mechanism 4.
请参阅图5，传送机构2主要由第一输送件21和第二输送件22构成。第一输送件21包括两个同步传动的传动带211、同步带212、同步轮213和电机214。两个传动带211端部的带轮共轴设置，因此二者同步传动。两个传动带211通过轴承安装在底座1上，由于两个传动带211之间具有间距，因此顶升机构3能够穿过传动带211并顶升载料盒。Referring to FIG. 5 , the conveying mechanism 2 is mainly composed of a first conveying member 21 and a second conveying member 22 . The first conveying member 21 includes two synchronously driven transmission belts 211 , a synchronous belt 212 , a synchronous wheel 213 and a motor 214 . The pulleys at the ends of the two transmission belts 211 are coaxially arranged, so they are driven synchronously. The two transmission belts 211 are installed on the base 1 through bearings. Since there is a gap between the two transmission belts 211, the lifting mechanism 3 can pass through the transmission belts 211 and lift the loading box.
为了方便驱动传动带211，在传动带211其中一端的带轮中轴向外延伸，并固定连接一个同步轮213，电机214的输出轴安装另一个同步轮213，两个同步轮213通过同步带212传动，将电机214安装在底座1上并位于传动带211下方。由电机214驱动传动带211。In order to facilitate the driving of the transmission belt 211, the central shaft of the pulley at one end of the transmission belt 211 extends outward and is fixedly connected to a synchronous wheel 213. The output shaft of the motor 214 is equipped with another synchronous wheel 213. The two synchronous wheels 213 are driven by the synchronous belt 212. , install the motor 214 on the base 1 and below the transmission belt 211. The transmission belt 211 is driven by the motor 214.
另外一种驱动方式就是带轮中轴向外延伸直接与电机214连接。由电机214直接驱动，该方式使用构件少，但是维修起来略微麻烦。Another driving method is that the central shaft of the pulley extends outward and is directly connected to the motor 214. Directly driven by the motor 214, this method uses fewer components, but is slightly troublesome to maintain.
结合图1和图4，两个传动带211之间的间距小于载料盒的尺寸，因此载料盒可以放置在传动带211上，为了进一步提高载料盒在传动带211上的稳定性。底座1上且位于传动带211的外侧安装侧挡板34，载料盒的四角轴连接有滚轮35，滚轮35位于传动带211的上方且滚轮35外周面与侧挡板34内侧相接触。在传动带211输送载料盒时，滚轮35在侧挡板34上滚动配合载料盒的移动，同时由于侧挡板34限位，载料盒在移动过程中不易脱离传动带211。1 and 4 , the distance between the two transmission belts 211 is smaller than the size of the carrier box, so the carrier box can be placed on the transmission belt 211 to further improve the stability of the carrier belt 211 . A side baffle 34 is installed on the base 1 and located outside the transmission belt 211. The four-corner axis of the loading box is connected with a roller 35. The roller 35 is located above the transmission belt 211 and the outer peripheral surface of the roller 35 is in contact with the inside of the side baffle 34. When the transmission belt 211 transports the loading box, the roller 35 rolls on the side baffle 34 to cooperate with the movement of the loading box. At the same time, due to the limit of the side baffle 34, the loading box is not easy to separate from the transmission belt 211 during the movement.
第二输送件22可以采用与第一输送件21相同的结构，也可以采用不同的结构，若是结构不同，第二输送件22可以采用传统的输送带，即皮带与带轮的配合，驱动方式与第一输送件21的驱动方式相同。The second conveying member 22 can adopt the same structure as the first conveying member 21, or can adopt a different structure. If the structure is different, the second conveying member 22 can adopt a traditional conveyor belt, that is, the cooperation of the belt and the pulley, the driving method The driving method of the first conveying member 21 is the same.
结合图1和图3，下面对顶升机构3进行说明。顶升机构3主要由第一顶升气缸31、第二顶升气缸32和辅助轮33构成。第一顶升气缸31和第二顶升气缸32相邻安装在底座1上，且活动端均能穿过两个传动带211的中段间隙，第一顶升气缸31和第二顶升气缸32所在区域为机械手5抓取工位。第二顶升气缸32偏向第一输送件21顶部终点位置，因此辅助轮33安装在第二顶升气缸32的活动端，用于拦截载料盒。底座1外侧放置有机械手5，用于抓取所述抓取工位内载料盒中的定子半成品。With reference to Figures 1 and 3, the lifting mechanism 3 will be described below. The lifting mechanism 3 is mainly composed of a first lifting cylinder 31 , a second lifting cylinder 32 and an auxiliary wheel 33 . The first lifting cylinder 31 and the second lifting cylinder 32 are installed adjacently on the base 1, and the movable ends can pass through the middle gap of the two transmission belts 211, where the first lifting cylinder 31 and the second lifting cylinder 32 are located. The area is the grabbing station of robot 5. The second lifting cylinder 32 is biased toward the top end position of the first conveying member 21, so the auxiliary wheel 33 is installed at the movable end of the second lifting cylinder 32 for intercepting the loading box. A manipulator 5 is placed outside the base 1 for grabbing the stator semi-finished product in the loading box in the grabbing station.
辅助轮33与第二顶升气缸32之间可以通过支架连接。支架底部固定安装在第二顶升气缸32活动端，支架的顶部向第一输送件21顶部起始位置倾斜，至少两个辅助轮33水平并排轴连接在支架顶部，且辅助轮33的轴向与载料盒的移动方向相平行。辅助轮33受支架引导向传动带211的顶部起始位置偏移，偏移至支架边缘外侧，这样载料盒移动过来时与辅助轮33接触，接触不到支架。The auxiliary wheel 33 and the second lifting cylinder 32 may be connected through a bracket. The bottom of the bracket is fixedly installed on the movable end of the second lifting cylinder 32. The top of the bracket is tilted toward the starting position of the top of the first conveyor 21. At least two auxiliary wheels 33 are connected to the top of the bracket horizontally and side by side, and the axial direction of the auxiliary wheel 33 is Parallel to the moving direction of the carrier box. The auxiliary wheel 33 is guided by the bracket and deviates toward the top starting position of the transmission belt 211 and to the outside of the edge of the bracket. In this way, when the loading box moves over, it contacts the auxiliary wheel 33 and cannot touch the bracket.
为了提高第二顶升气缸32将辅助轮33向上顶升的平稳性，支架底部一侧开设有限位槽，第二顶升气缸32的固定端竖直安装有与限位槽内壁相接触的第一限位杆，二者配合保障支架纵向移动的平稳性。需要注意的是，第二限位杆的最高端不超过传动带211的高度，避免影响载料盒在传动带211上的移动。亦或者载料盒底部开设有相应的凹槽，不受第一限位杆的阻挡。In order to improve the stability of the second lifting cylinder 32 in lifting the auxiliary wheel 33 upwards, a limiting groove is provided on one side of the bottom of the bracket, and a second lifting cylinder in contact with the inner wall of the limiting groove is installed vertically on the fixed end of the second lifting cylinder 32. A limit rod, the two of which cooperate to ensure the stability of the longitudinal movement of the bracket. It should be noted that the highest end of the second limiting rod does not exceed the height of the transmission belt 211 to avoid affecting the movement of the loading box on the transmission belt 211 . Or the bottom of the loading box is provided with a corresponding groove, which is not blocked by the first limiting rod.
结合图2和图3，当辅助轮33的外周面与载料盒面向第一输送件21顶部终点位置的一侧相接触时，该载料盒位于第一顶升气缸31的正上方，为了使第一顶升气缸31顶升载料盒时，载料盒不会晃动且不掉落，在第一顶升气缸31的活动端可拆卸连接推动板37，推动板37的宽度小于两个传动带211的间隙，可以不受传动带211阻挡。推动板37顶部四角设置有限位凸起38，载料盒对应开设限位孔，在载料盒与辅助轮33接触时，限位凸起38正好位于限位孔的正下方，为了方便限位凸起38穿过限位孔，限位凸起38的顶部呈圆台状，起到引导的作用。2 and 3, when the outer peripheral surface of the auxiliary wheel 33 is in contact with the side of the loading box facing the top end position of the first conveying member 21, the loading box is located directly above the first lifting cylinder 31. In order to When the first lifting cylinder 31 lifts the loading box, the loading box will not shake or fall. The pushing plate 37 is detachably connected to the movable end of the first lifting cylinder 31. The width of the pushing plate 37 is less than two The gap of the transmission belt 211 may not be blocked by the transmission belt 211 . Limiting protrusions 38 are provided at the four corners of the top of the push plate 37, and limit holes are provided correspondingly in the loading box. When the loading box contacts the auxiliary wheel 33, the limiting protrusions 38 are located just below the limiting holes. In order to facilitate the positioning, The protrusion 38 passes through the limiting hole, and the top of the limiting protrusion 38 is in the shape of a truncated cone, which plays a guiding role.
因此，电机214驱动传动带211移动，第二顶升气缸32将辅助轮33向上顶升，令辅助轮33的高度高于传动带211，装有半成品的载料盒跟随传动带211一起移动，直至与辅助轮33相接触，此时第一顶升气缸31顶升载料盒，将载料盒向上顶升脱离传动带211，辅助轮33与载料盒外壁接触辅助其上移，后面放上的载料盒不受前面载料盒的影响继续被传动带211传动，被第一顶升气缸31顶出的载料盒，由机械手5将其内部存放的定子半成品取出，随后第一顶升气缸31和第二顶升气缸32同步下移，空的载料盒再次与传动带211接触并被传送到传动带211顶部终点位置。Therefore, the motor 214 drives the transmission belt 211 to move, and the second lifting cylinder 32 lifts the auxiliary wheel 33 upward so that the height of the auxiliary wheel 33 is higher than the transmission belt 211. The loading box containing the semi-finished products moves with the transmission belt 211 until it reaches the auxiliary The wheels 33 are in contact. At this time, the first lifting cylinder 31 lifts the loading box, lifting the loading box upward and away from the transmission belt 211. The auxiliary wheel 33 contacts the outer wall of the loading box to assist its upward movement, and the loading box placed behind it The box is not affected by the previous loading box and continues to be driven by the transmission belt 211. The loading box ejected by the first lifting cylinder 31 has the stator semi-finished product stored inside it taken out by the manipulator 5. Then the first lifting cylinder 31 and the second lifting cylinder 31 take out the stator semi-finished product stored inside. The two lifting cylinders 32 move downward simultaneously, and the empty loading box contacts the transmission belt 211 again and is transported to the top end position of the transmission belt 211.
可以在第二顶升气缸32附近设置光电传感器，在空的载料盒移动至辅助轮33另一侧时，第二顶升气缸32向上移动重新拦截下一个装有定义半成品的载料盒。因此，抓取工位会将装有定子半成品的载料盒变为空的载料盒。A photoelectric sensor can be provided near the second lifting cylinder 32. When the empty loading box moves to the other side of the auxiliary wheel 33, the second lifting cylinder 32 moves upward to intercept the next loading box containing the defined semi-finished product. The gripping station therefore converts a carrier box containing semi-finished stator products into an empty one.
请参阅图1，下面对转移机构4进行说明。转移机构4主要由夹持板41、气动夹爪42和直线滑台模组43构成。直线滑台模组43设置在第一输送件21顶部终点位置和第二输送件22顶部起点位置外侧且安装在底座1上，气动夹爪42的固定端与直线滑台模组43的活动端连接，气动夹爪42相对称、运动方向相反的活动端可拆卸连接有夹持板41，夹持板41内侧与载料盒接触。夹持板41可以通过螺栓或者卡扣等方式可拆卸连接。Referring to Figure 1, the transfer mechanism 4 will be described below. The transfer mechanism 4 is mainly composed of a clamping plate 41, a pneumatic clamp 42 and a linear slide module 43. The linear slide module 43 is arranged outside the top end position of the first conveyor 21 and the top starting position of the second conveyor 22 and is installed on the base 1. The fixed end of the pneumatic clamp 42 and the movable end of the linear slide module 43 The movable end of the pneumatic clamping jaw 42 that is relatively symmetrical and moves in the opposite direction is detachably connected to a clamping plate 41, and the inner side of the clamping plate 41 is in contact with the loading box. The clamping plate 41 can be detachably connected through bolts or buckles.
当空的载料盒移动到传动带211顶部终点位置时，刚好位于两个夹持板41之间，气动夹爪42收缩带动夹持板41收缩，两个夹持板41夹持住载料盒，再驱动直线滑台模组43，令载料盒移动到第二输送件22上，第二输送件22将载料盒送回，随后再驱动直线滑台模组43饭方向移动，复位等待转移下一个载料盒。When the empty loading box moves to the end position of the top of the transmission belt 211, it is just between the two clamping plates 41. The pneumatic clamping claw 42 shrinks to drive the clamping plate 41 to shrink, and the two clamping plates 41 clamp the loading box. The linear slide module 43 is then driven to move the carrier box to the second conveyor 22, and the second conveyor 22 returns the carrier box, and then drives the linear slide module 43 to move in the right direction, reset and wait for transfer. Next carrier box.
为了阻挡传动带211带动载料盒前移的作用力，夹持板41内侧背离气动夹爪42的一端内凹设置，形成阶梯面。或者是夹持板41内侧靠近气动夹爪42的一端向内延伸凸出，形成阶梯面。两个夹持板41靠近气动夹爪42的一端初始状态的间隙小于载料盒的宽度，因此载料盒进入到两个夹持板41内后，会被阶梯面阻拦，无法继续移动。为了方便夹持板41夹持载料盒，可以在夹持板41的下方设置微型气缸，微型气缸安装在底座1上，在载料盒移动到两个夹持板41内后将载料盒向上顶，令载料盒脱离传动带211，随后夹持板41收紧夹持载料盒。In order to block the force of the transmission belt 211 from driving the loading box forward, the inner end of the clamping plate 41 facing away from the pneumatic clamping claw 42 is concavely provided to form a stepped surface. Alternatively, one end of the inner side of the clamping plate 41 close to the pneumatic clamping jaw 42 extends and protrudes inward to form a stepped surface. The initial gap at one end of the two clamping plates 41 close to the pneumatic clamping jaw 42 is less than the width of the loading box. Therefore, after the loading box enters the two clamping plates 41, it will be blocked by the step surface and cannot continue to move. In order to facilitate the clamping plate 41 to clamp the loading box, a micro-cylinder can be provided below the clamping plate 41. The micro-cylinder is installed on the base 1. After the loading box moves into the two clamping plates 41, the loading box Push upward to make the carrier box break away from the transmission belt 211, and then the clamping plate 41 tightens to clamp the carrier box.
若是采用微型气缸，则侧挡板34可以延伸至传动带211的顶部终点位置，若不采用，则侧挡板34则延伸至第一顶升气缸31处则不继续延伸。If a micro cylinder is used, the side baffle 34 can be extended to the top end position of the transmission belt 211. If not, the side baffle 34 is extended to the first jacking cylinder 31 and does not continue to extend.
为保险起见，第一输送件21顶部终点位置处水平设有阻挡载料盒继续移动的拦截板36，拦截板36一端延伸至第二输送件22的起始位置。拦截板36可以安装在支架上，若是侧挡板34延伸至该处，也可以安装在侧挡板34上。拦截板36起到进一步拦截载料盒的作用，避免载料盒从传动带211顶部终点位置脱离。For safety reasons, an intercepting plate 36 is horizontally provided at the top end position of the first conveying member 21 to block the continued movement of the loading box. One end of the intercepting plate 36 extends to the starting position of the second conveying member 22 . The blocking plate 36 can be installed on the bracket, or on the side baffle 34 if the side baffle 34 extends thereto. The intercepting plate 36 further intercepts the loading box and prevents the loading box from detaching from the top end position of the transmission belt 211 .
因此，本实施例通过顶升机构3能够对传动带211上的载料盒进行拦截并将其向上顶升脱离传动带211，在不影响传动带211持续传动的同时将载料盒脱离传动带211并配合取料机械手5进行取料操作；此外，输送方向相反的第二输送件22和转移机构4能够将空的载料盒送回，装半成品后继续输送，保障传动带211的持续输送。同时转移机构4采用直线滑台模组43进行输送，和U型输送带相比，减少空间占用，对加工场所的长度空间需求降低，同时也不影响机械手5进行取料操作，充分利用了第一输送件21顶部终点位置和第二输送件22顶部起始位置处的空间。Therefore, in this embodiment, the lifting mechanism 3 can intercept the loading box on the transmission belt 211 and lift it up and away from the transmission belt 211, without affecting the continuous transmission of the transmission belt 211, and at the same time, the loading box can be separated from the transmission belt 211 and cooperate with the removal. The material manipulator 5 performs the material picking operation; in addition, the second conveyor 22 and the transfer mechanism 4 with the opposite conveying direction can return the empty material box, and continue conveying after loading the semi-finished products, ensuring the continuous conveying of the transmission belt 211. At the same time, the transfer mechanism 4 uses the linear slide module 43 for transportation. Compared with the U-shaped conveyor belt, it takes up less space and reduces the length and space requirements of the processing site. At the same time, it does not affect the material picking operation of the robot 5, making full use of the third The space between the end position of the top of one conveying member 21 and the starting position of the top of the second conveying member 22.
实施例2Example 2
本实施例介绍了一种载料盒输送装置，其与实施例1介绍的载料盒输送装置的结构基本相同。区别在于本实施例的辅助轮33通过平板(图中未示出)与第二顶升气缸32活动端连接，平板中部固定安装在第二顶升气缸32活动端，至少两个辅助轮33水平并排轴连接在平板面向第一输送件21顶部起始位置的一侧，且辅助轮33的轴向与载料盒的移动方向相平行；平板的底部连接有第二限位杆(图中未示出)，第二顶升气缸32固定端表面安装有配合第二限位杆纵向线性移动的限位滑槽(图中未示出)。This embodiment introduces a carrier box conveying device, which has basically the same structure as the carrier box conveying device introduced in Embodiment 1. The difference is that the auxiliary wheel 33 of this embodiment is connected to the movable end of the second lifting cylinder 32 through a flat plate (not shown in the figure). The middle part of the flat plate is fixedly installed on the movable end of the second lifting cylinder 32. At least two auxiliary wheels 33 are horizontal. The side-by-side shaft is connected to the side of the flat plate facing the starting position of the top of the first conveyor 21, and the axial direction of the auxiliary wheel 33 is parallel to the moving direction of the loading box; the bottom of the flat plate is connected to a second limiting rod (not shown in the figure). shown), the surface of the fixed end of the second lifting cylinder 32 is equipped with a limiting chute (not shown in the figure) that cooperates with the longitudinal linear movement of the second limiting rod.
将辅助轮33直接安装在平板面向第一输送件21顶部起始位置方向，待载料盒移动到顶升机构3处时先与辅助轮33相接触，平板不直接接触载料盒。且将第二限位板设置在平板下方，与第二顶升气缸32固定端上的限位滑槽配合保障平板的平稳性，同时不影响载料盒继续被传动带211传动至转移机构4处。The auxiliary wheel 33 is directly installed on the flat plate facing the starting position of the top of the first conveying member 21. When the loading box moves to the lifting mechanism 3, it will first contact the auxiliary wheel 33. The flat plate does not directly contact the loading box. And the second limit plate is arranged below the flat plate, and cooperates with the limit chute on the fixed end of the second lifting cylinder 32 to ensure the stability of the flat plate, and at the same time does not affect the continued transmission of the loading box to the transfer mechanism 4 by the transmission belt 211 .
本实施例具有和实施例1相同的有益效果。This embodiment has the same beneficial effects as Embodiment 1.
实施例3Example 3
本实施例在辅助轮33的旁侧、第一输送件21顶部终点位置以及第二输送件22顶部起始位置设置光电传感器，在采用实施例1介绍的载料盒输送装置的基础上以配合本实施例介绍的载料盒输送方法，本实施例介绍方法包括以下步骤：In this embodiment, photoelectric sensors are provided on the side of the auxiliary wheel 33, at the top end position of the first conveying member 21, and at the starting position of the top of the second conveying member 22. On the basis of using the carrier box conveying device introduced in Embodiment 1, the This embodiment introduces the carrier box transportation method. The method introduced in this embodiment includes the following steps:
步骤1：将载料盒置于第一输送件21顶部起始位置，控制第一输送件21启动输送载料盒，载料盒处于装载状态；Step 1: Place the loading box at the top starting position of the first conveying member 21, control the first conveying member 21 to start transporting the loading box, and the loading box is in a loading state;
步骤2：实时采集载料盒与辅助轮33之间的相对位置信息，判断载料盒是否到达与辅助轮33相接触位置；Step 2: Collect the relative position information between the loading box and the auxiliary wheel 33 in real time, and determine whether the loading box reaches the contact position with the auxiliary wheel 33;
步骤3：是则驱动第一顶升气缸31伸展固定距离La后等待预设时长，随后驱动第一顶升气缸31复位，第二顶升气缸32收缩Lb，此时载料盒与第一输送件21再次接触，状态变为空载状态；Step 3: If so, drive the first lifting cylinder 31 to extend a fixed distance La and wait for a preset time, then drive the first lifting cylinder 31 to reset, and the second lifting cylinder 32 contracts Lb. At this time, the loading box and the first conveyor Part 21 contacts again and the state changes to no-load state;
步骤4：实时采集载料盒与第一输送件21顶部终点位置的相对位置信息，判断载料盒是否到达转移机构4的转移区域；Step 4: Collect the relative position information of the loading box and the top end position of the first conveying member 21 in real time, and determine whether the loading box reaches the transfer area of the transfer mechanism 4;
步骤5：是则驱动转移机构4夹持载料盒并将载料盒转移到第二输送件22上，待载料盒与第二输送件22顶部起始位置之间的间距大于安全距离后，驱动转移机构4复位。Step 5: If so, the transfer mechanism 4 is driven to clamp the loading box and transfer the loading box to the second conveying member 22 until the distance between the loading box and the starting position of the top of the second conveying member 22 is greater than the safe distance. , the drive transfer mechanism 4 is reset.
本实施例具有和实施例1相同的有益效果。This embodiment has the same beneficial effects as Embodiment 1.
本发明的技术范围不仅仅局限于上述说明中的内容，本领域技术人员可以在不脱离本发明技术思想的前提下，对上述实施例进行多种变形和修改，而这些变形和修改均应当属于本发明的保护范围内。The technical scope of the present invention is not limited to the content in the above description. Those skilled in the art can make various deformations and modifications to the above embodiments without departing from the technical ideas of the present invention, and these deformations and modifications should all belong to within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311222236.5ACN117023007A (en) | 2023-09-21 | 2023-09-21 | Carry magazine conveyor |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311222236.5ACN117023007A (en) | 2023-09-21 | 2023-09-21 | Carry magazine conveyor |
| Publication Number | Publication Date |
|---|---|
| CN117023007Atrue CN117023007A (en) | 2023-11-10 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311222236.5APendingCN117023007A (en) | 2023-09-21 | 2023-09-21 | Carry magazine conveyor |
| Country | Link |
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| CN (1) | CN117023007A (en) |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20231110 | |
| RJ01 | Rejection of invention patent application after publication |